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Distributed PI Control in Multi-Agent Systems: From Anti-Windup to Topology
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis, we study the impact of input saturation on multiagentsystems, which are controlled by the recently developed DAPI (DistributedAveraging Proportional Integral) control scheme. We are alsostudying modern anti-windup synthesis for these systems. Specically,we are constructing anti-windup compensators through a method thatminimizes an upper bound of the L2-gain globally for asymptotically stablecontrol systems. Both static and dynamic anti-windup compensatorsare constructed. Numerical examples of a water tank and a microgrid areconsidered. It is veried in simulations that the constructed compensatorssuccessfully prevent windup caused by actuator saturation, and that thedynamic compensator has better performance. The performance of thesecompensators are also compared with the classical anti-windup method,called back calculation.During our study of anti-windup compensators, we found a partiallyrelated problem, which is also included in the thesis. The problem is toarrange the edge weights in a multi-agent system such that the L2-gainis minimized. This problem does not include input saturation but theconnection is the minimization of an upper bound of the L2-gain and themulti-agent systems. For the considered class of multi-agent systems, weestablish a connection between the algebraic connectivity and an upperbound of the L2-gain.

Abstract [sv]

Denna uppsats är en studie om hur insignalsmättnad påverkar multiagentsystem som är reglerade med den nyutvecklade DAPI (DistributedAveraging Proportional Integral) regulatorn. Vi studerar också modernametoder för att dämpa effekten av insignalsmättnad. Mer specifikt,så konstruerar vi anti-uppvridningskompensatorer genom en metod somminimerar en övre gräns för L2-förstärkningen globalt för asymptotisktstabila reglersystem. Både statiska och dynamiska anti- uppvridningskompensatorerkonstrueras. Vi undersöker två numeriska exempel: det ena ärett vattentankexempel och det andra ett elektriskt mikronät. Vi verifierargenom simulationer att de konstruerade kompensatorerna framgångsriktdämpar effekten av insignalsmättnad och att den dynamiska kompensatornpresterar bättre. Prestandan är också jämförd med en klassiskanti-uppvridningskompensator.Under vår studie av anti-uppvridningskompensatorer så hittade vi ettintressant ödesnätverksproblem som också är inkluderat i uppsatsen.Detta problem inkluderar inte insignalsmättnad men kopplingen till restenav uppsatsen är minimering av en övre gräns av L2-förstärkningen ochmulti-agent system. För den studerade klassen av ödesnätverk härledervi en koppling mellan den algebraiska konnektiviteten hos ödesnätverketoch en övre gräns på L2-förstärkningen. Denna övre gräns är verifierad isimulationer.

Place, publisher, year, edition, pages
2017. , 68 p.
Series
TRITA-EE, ISSN 1653-5146 ; 2017:020
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-206433OAI: oai:DiVA.org:kth-206433DiVA: diva2:1092556
Educational program
Master of Science in Engineering - Vehicle Engineering; Master of Science - Applied and Computational Mathematics
Examiners
Available from: 2017-05-03 Created: 2017-05-03 Last updated: 2017-05-03Bibliographically approved

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